/**************************************************************************************************
*
* msr_module.c
*
* Kernelmodul für 2.6 Kernel zur Meßdatenerfassung, Steuerung und Regelung
* Zeitgeber ist der Timerinterrupt (tq)
*
* Autor: Wilhelm Hagemeister
*
* (C) Copyright IgH 2002
* Ingenieurgemeinschaft IgH
* Heinz-Bäcker Str. 34
* D-45356 Essen
* Tel.: +49 201/61 99 31
* Fax.: +49 201/61 98 36
* E-mail: hm@igh-essen.com
*
*
* $RCSfile: msr_module.c,v $
* $Revision: 1.1 $
* $Author: hm $
* $Date: 2005/11/14 20:32:57 $
* $State: Exp $
*
*
* $Log: msr_module.c,v $
* Revision 1.1 2005/11/14 20:32:57 hm
* Initial revision
*
* Revision 1.13 2005/06/17 11:35:13 hm
* *** empty log message ***
*
*
* Hello Emacs: -*- c-basic-offset: 2; -*-
*
**************************************************************************************************/
/*--includes-------------------------------------------------------------------------------------*/
#ifndef __KERNEL__
# define __KERNEL__
#endif
#ifndef MODULE
# define MODULE
#endif
#include <linux/config.h>
#include <linux/module.h>
#include <linux/sched.h>
#include <linux/kernel.h>
#include <linux/vmalloc.h>
#include <linux/fs.h> /* everything... */
#include <linux/proc_fs.h>
#include <linux/time.h>
#include <linux/timer.h>
#include <linux/timex.h> /* fuer get_cycles */
#include <linux/errno.h> /* error codes */
#include <asm/msr.h> /* maschine-specific registers */
#include <linux/param.h> /* fuer HZ */
#include <linux/ipipe.h>
#include "msr_param.h" //wird im Projektverzeichnis erwartet
//#include <msr_control.h>
#include <msr_lists.h>
#include <msr_charbuf.h>
#include <msr_reg.h>
#include <msr_error_reg.h>
#include <msr_messages.h>
#include <msr_proc.h>
#include <msr_utils.h>
#include <msr_main.h>
#include <msr_float.h>
#include "../drivers/ec_master.h"
#include "../drivers/ec_device.h"
#include "../drivers/ec_types.h"
#include "../drivers/ec_module.h"
#include "msr_jitter.h"
MODULE_AUTHOR("Wilhelm Hagemeister, Ingenieurgemeinschaft IgH");
MODULE_LICENSE("GPL");
/*--external functions---------------------------------------------------------------------------*/
/*--external data--------------------------------------------------------------------------------*/
#define HZREDUCTION (MSR_ABTASTFREQUENZ/HZ)
extern wait_queue_head_t msr_read_waitqueue;
extern struct msr_char_buf *msr_kanal_puffer;
extern int proc_abtastfrequenz;
/*--public data----------------------------------------------------------------------------------*/
/*--local data-----------------------------------------------------------------------------------*/
//struct timer_list timer;
extern struct timeval process_time;
struct timeval msr_time_increment; // Increment per Interrupt
//adeos
static struct ipipe_domain this_domain;
static struct ipipe_sysinfo sys_info;
static EtherCAT_master_t *ecat_master = NULL;
static EtherCAT_slave_t ecat_slaves[] =
{
#if 1
// Block 1
ECAT_INIT_SLAVE(Beckhoff_EK1100),
ECAT_INIT_SLAVE(Beckhoff_EL4102),
ECAT_INIT_SLAVE(Beckhoff_EL1014),
ECAT_INIT_SLAVE(Beckhoff_EL3162),
ECAT_INIT_SLAVE(Beckhoff_EL2004),
ECAT_INIT_SLAVE(Beckhoff_EL3102),
ECAT_INIT_SLAVE(Beckhoff_EL2004),
ECAT_INIT_SLAVE(Beckhoff_EL2004),
ECAT_INIT_SLAVE(Beckhoff_EL2004),
ECAT_INIT_SLAVE(Beckhoff_EL2004),
ECAT_INIT_SLAVE(Beckhoff_EL2004),
// Block 2
ECAT_INIT_SLAVE(Beckhoff_EK1100),
ECAT_INIT_SLAVE(Beckhoff_EL1014),
ECAT_INIT_SLAVE(Beckhoff_EL1014),
ECAT_INIT_SLAVE(Beckhoff_EL1014),
ECAT_INIT_SLAVE(Beckhoff_EL1014),
ECAT_INIT_SLAVE(Beckhoff_EL1014),
ECAT_INIT_SLAVE(Beckhoff_EL2004),
ECAT_INIT_SLAVE(Beckhoff_EL2004),
ECAT_INIT_SLAVE(Beckhoff_EL2004),
ECAT_INIT_SLAVE(Beckhoff_EL2004),
ECAT_INIT_SLAVE(Beckhoff_EL1014),
ECAT_INIT_SLAVE(Beckhoff_EL1014),
ECAT_INIT_SLAVE(Beckhoff_EL1014)
#endif
#if 1
// Block 3
,ECAT_INIT_SLAVE(Beckhoff_EK1100),
ECAT_INIT_SLAVE(Beckhoff_EL3162),
ECAT_INIT_SLAVE(Beckhoff_EL3162),
ECAT_INIT_SLAVE(Beckhoff_EL3162),
ECAT_INIT_SLAVE(Beckhoff_EL3162),
ECAT_INIT_SLAVE(Beckhoff_EL3102),
ECAT_INIT_SLAVE(Beckhoff_EL3102),
ECAT_INIT_SLAVE(Beckhoff_EL3102),
ECAT_INIT_SLAVE(Beckhoff_EL3102),
ECAT_INIT_SLAVE(Beckhoff_EL4102),
ECAT_INIT_SLAVE(Beckhoff_EL4102),
ECAT_INIT_SLAVE(Beckhoff_EL4102),
ECAT_INIT_SLAVE(Beckhoff_EL4102),
ECAT_INIT_SLAVE(Beckhoff_EL4132)
#endif
};
#define ECAT_SLAVES_COUNT (sizeof(ecat_slaves) / sizeof(EtherCAT_slave_t))
#define USE_MSR_LIB
#ifdef USE_MSR_LIB
double value;
int dig1;
#endif
/******************************************************************************
*
* Function: next2004
*
*****************************************************************************/
static int next2004(int *wrap)
{
static int i = 0;
unsigned int j = 0;
*wrap = 0;
for (j = 0; j < ECAT_SLAVES_COUNT; j++)
{
i++;
i %= ECAT_SLAVES_COUNT;
if (i == 0) *wrap = 1;
if (ecat_slaves[i].desc == Beckhoff_EL2004)
{
return i;
}
}
return -1;
}
/******************************************************************************
*
* Function: msr_controller_run()
*
*****************************************************************************/
static void msr_controller_run(void)
{
static int ms = 0;
static int cnt = 0;
static unsigned long int k = 0;
static int firstrun = 1;
static int klemme = 0;
static int kanal = 0;
static int up_down = 0;
int wrap = 0;
// Prozessdaten lesen
msr_jitter_run(MSR_ABTASTFREQUENZ);
if (!firstrun)
{
EtherCAT_read_process_data(ecat_master);
// Daten lesen und skalieren
#ifdef USE_MSR_LIB
value = EtherCAT_read_value(&ecat_master->slaves[5], 0) / 3276.0;
dig1 = EtherCAT_read_value(&ecat_master->slaves[2], 0);
#endif
}
else
klemme = next2004(&wrap);
ms++;
ms %= 1000;
if (cnt++ > 20)
{
cnt = 0;
if (++kanal > 3)
{
kanal = 0;
klemme = next2004(&wrap);
if (wrap == 1)
{
if (up_down == 1) up_down = 0;
else up_down = 1;
}
}
}
if (klemme >= 0) {
EtherCAT_write_value(&ecat_master->slaves[klemme], kanal,up_down);
//printk("ECAT write: Klemme: %d, Kanal: %d, Wert: %d\n",klemme,kanal,up_down);
}
#if 0
EtherCAT_write_value(&ecat_master->slaves[13], 1, ms > 500 ? 0 : 1);
EtherCAT_write_value(&ecat_master->slaves[14], 2, ms > 500 ? 0 : 1);
EtherCAT_write_value(&ecat_master->slaves[15], 3, ms > 500 ? 1 : 0);
#endif
// Prozessdaten schreiben
rdtscl(k);
EtherCAT_write_process_data(ecat_master);
firstrun = 0;
}
/*
***************************************************************************************************
*
* Function: msr_run(_interrupt)
*
* Beschreibung: Routine wird zyklisch im Timerinterrupt ausgeführt
* (hier muß alles rein, was Echtzeit ist ...)
*
* Parameter: Zeiger auf msr_data
*
* Rückgabe:
*
* Status: exp
*
***************************************************************************************************
*/
void msr_run(unsigned irq)
{
static int counter = 0;
#ifdef USE_MSR_LIB
timeval_add(&process_time,&process_time,&msr_time_increment);
MSR_ADEOS_INTERRUPT_CODE(
msr_controller_run();
msr_write_kanal_list();
);
#else
msr_controller_run();
#endif
/* und wieder in die Timerliste eintragen */
/* und neu in die Taskqueue eintragen */
// timer.expires += 1;
// add_timer(&timer);
ipipe_control_irq(irq,0,IPIPE_ENABLE_MASK); //nicht weiterreichen
if(counter++ > HZREDUCTION) {
ipipe_propagate_irq(irq); //wie lange braucht der Rest der Pipeline ??
counter = 0;
}
}
void domain_entry (int iflag) {
printk("Domain %s started.\n", ipipe_current_domain->name);
ipipe_get_sysinfo(&sys_info);
ipipe_virtualize_irq(ipipe_current_domain,sys_info.archdep.tmirq,
&msr_run, NULL, IPIPE_HANDLE_MASK);
ipipe_tune_timer(1000000000UL/MSR_ABTASTFREQUENZ,0);
}
/*
*******************************************************************************
*
* Function: msr_register_channels
*
* Beschreibung: KanŽäle registrieren
*
* Parameter:
*
* RŽückgabe:
*
* Status: exp
*
*******************************************************************************
*/
int msr_globals_register(void)
{
#ifdef USE_MSR_LIB
msr_reg_kanal("/value", "V", &value, TDBL);
msr_reg_kanal("/dig1", "", &dig1, TINT);
#endif
/* msr_reg_kanal("/Taskinfo/Ecat/TX-Delay","us",&ecat_tx_delay,TUINT);
msr_reg_kanal("/Taskinfo/Ecat/RX-Delay","us",&ecat_rx_delay,TUINT);
msr_reg_kanal("/Taskinfo/Ecat/TX-Cnt","",&tx_intr,TUINT);
msr_reg_kanal("/Taskinfo/Ecat/RX-Cnt","",&rx_intr,TUINT);
msr_reg_kanal("/Taskinfo/Ecat/Total-Cnt","",&total_intr,TUINT);
*/
return 0;
}
/****************************************************************************************************
* the init/clean material
****************************************************************************************************/
int __init init_module()
{
struct ipipe_domain_attr attr; //ipipe
// Als allererstes die RT-lib initialisieren
#ifdef USE_MSR_LIB
if (msr_rtlib_init(1,MSR_ABTASTFREQUENZ,10,&msr_globals_register) < 0) {
msr_print_warn("msr_modul: can't initialize rtlib!");
goto out_return;
}
#endif
msr_jitter_init();
printk(KERN_INFO "=== Starting EtherCAT environment... ===\n");
if ((ecat_master = EtherCAT_request(0)) == NULL) {
printk(KERN_ERR "EtherCAT master 0 not available!\n");
goto out_msr_cleanup;
}
printk("Checking EtherCAT slaves.\n");
if (EtherCAT_check_slaves(ecat_master, ecat_slaves, ECAT_SLAVES_COUNT) != 0) {
printk(KERN_ERR "EtherCAT: Could not init slaves!\n");
goto out_release_master;
}
printk("Activating all EtherCAT slaves.\n");
if (EtherCAT_activate_all_slaves(ecat_master) != 0) {
printk(KERN_ERR "EtherCAT: Could not activate slaves!\n");
goto out_release_master;
}
do_gettimeofday(&process_time);
msr_time_increment.tv_sec=0;
msr_time_increment.tv_usec=(unsigned int)(1000000/MSR_ABTASTFREQUENZ);
ipipe_init_attr (&attr);
attr.name = "IPIPE-MSR-MODULE";
attr.priority = IPIPE_ROOT_PRIO + 1;
attr.entry = &domain_entry;
ipipe_register_domain(&this_domain,&attr);
return 0;
out_release_master:
EtherCAT_release(ecat_master);
out_msr_cleanup:
msr_rtlib_cleanup();
out_return:
return -1;
}
//****************************************************************************
void __exit cleanup_module()
{
msr_print_info("msk_modul: unloading...");
ipipe_tune_timer(1000000000UL/HZ,0); //alten Timertakt wieder herstellen
ipipe_unregister_domain(&this_domain);
printk(KERN_INFO "=== Stopping EtherCAT environment... ===\n");
if (ecat_master)
{
EtherCAT_clear_process_data(ecat_master);
printk(KERN_INFO "Deactivating slaves.\n");
EtherCAT_deactivate_all_slaves(ecat_master);
EtherCAT_release(ecat_master);
}
printk(KERN_INFO "=== EtherCAT environment stopped. ===\n");
#ifdef USE_MSR_LIB
msr_rtlib_cleanup();
#endif
}
MODULE_LICENSE("GPL");
MODULE_AUTHOR ("Wilhelm Hagemeister <hm@igh-essen.com>");
MODULE_DESCRIPTION ("EtherCAT test environment");
module_init(init_module);
module_exit(cleanup_module);